Add virtual joint

[Aki1991]

This is more like a question than an issue. I wanted to know if it is possible to add extra (virtual) joints in the hardware plugin, OpenCR firmware and control the open manipulator.

Actually, I want to control the open manipulator hardware with moveit library and inverse kinematics, which needs 6 DoF. I was able to control it in gazebo by adding virtual joints. I wanted to replicate same with real hardware but I am having some difficulty. So I want to know if it is even possible or not.